Deployed at DRDO - CAIR as Robotics Software Developer

- Actively involved in advancing dual-arm manipulator technology, focusing on controls, simulation, and software development. Leveraging tools like ROS2, MoveIt2, and Gazebo, my role encompasses the entire spectrum of robotic movement and interaction, ensuring seamless and efficient automation.

• Designed a robot that responds to a set of commands & follows the person around, while maintaining a safe distance using ROS and OpenCV• Conceived & executed full stack development of robot including creating ROS architecture, writing complete codebase & running Gazebo simulations• Single-handedly designed and hardware modelled a 4WD skid steered prototype robot; tested and successfully deployed the software stack on it•Planned & set up a centralised git-based source code & doc management repository for the company, while aligning stakeholders within the startup

•Designed and developed hardware and low level software stack of a multi-agent distributed robotics system consisting of ground and aerial vehicles•Experimented and implemented decentralised swarm algorithms like shape formation, leader selection, following the leader in a line, allotting ID etc•Hardware modelled and 3D printed a micro quadcopter, designed the PCB in KiCAD using ESP32 as microcontroller and for control using WiFi•Designed low level control PCB for ground robots to control motors using PID control, read sensory data, monitor and batteries

• Developed a VS Code extension in NodeJS to capture user’s code reading behaviour for quantifying the developer’s productivity• Extension collects various features from the interaction of users with the IDE such as scrolling and temporal events, switching between multiple files, rangeof active selection area, cursor spatial position and features from IDE configuration such as active window dimensions and position• The collected data is exported as a realtime XML stream for further analysis and processing along with the data from Eye Gaze Tracker